eagle_AX12Servo.h

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#ifndef EAGLE_EBOARD_HELPLIB_AX12SERVO
    #define EAGLE_EBOARD_HELPLIB_AX12SERVO

//=====================================================================================================================================================
//                                                                      AX12Servo                                                                      
//=====================================================================================================================================================

    //-------------------------------------------------------------------------------------------------------------------------------------------------
    //                                                                  cheat  :D                                                                      
    //-------------------------------------------------------------------------------------------------------------------------------------------------

    struct DynamixelBoard;

    //-------------------------------------------------------------------------------------------------------------------------------------------------
    //                                                                    class                                                                        
    //-------------------------------------------------------------------------------------------------------------------------------------------------
    struct AX12Servo {
        AX12Servo(void);
        AX12Servo(DynamixelBoard &dBoard, optVAL_t servoID); //if borders => setPosLimit

        DynamixelBoard *_conBoard;

        #if EBOARD_USE_UTILITY > 0x0

            inline void setID(optVAL_t newID);
            inline void changeMotorID(optVAL_t newID);                    //this should change the hardwareaddress...
            inline void setPositionMode(void);
            inline void setSpeedMode(void);
            inline void setSpeed(optVAL_t);
            inline void ledOff(void);
            inline void ledOn(void);
            inline void setTorque(uint16_t);
        #endif

        void setPosition(int pos, int speed=0x3FF);
        inline void storePosition(int pos, int speed = 0x3FF);
        inline optVAL_t getPosition(void);
        inline bool isMoving(void);
        int storedPos;
        int storedSpe;

        //bool posMode; //we don't care wich mode we are in ^^

        optVAL_t id;
    private:
        int actPos;
        int actSpe;

    }; //shield //set limits auto register for begin
    

    //-------------------------------------------------------------------------------------------------------------------------------------------------
    //                                                                definitions                                                                      
    //-------------------------------------------------------------------------------------------------------------------------------------------------

    AX12Servo::AX12Servo(void) {}
    
    #if EBOARD_USE_UTILITY > 0x0
        void AX12Servo::setID(optVAL_t newID) {this->id = newID;_servoHandler.SetServoLimit(this->id,_servoHandler.upperLimit_temp);}
        void AX12Servo::changeMotorID(optVAL_t newID) {this->id = newID; _servoHandler.SetID(this->id, newID);} //this -should- *does now* change the hardwareaddress...
        //IF needed: _servoHandler.setID(this->id, newID);
        void AX12Servo::setPositionMode(void)  {}
        void AX12Servo::setSpeedMode(void) {}
        void AX12Servo::setSpeed(optVAL_t) {} //i won't use the rotate functions...
        void AX12Servo::ledOff(void) {} //noone needs the AX12-Servo LED
        void AX12Servo::ledOn(void) {} //really.... noone ^^
        void AX12Servo::setTorque(uint16_t) {} //which damn register? xD
    #endif

    void AX12Servo::setPosition(int pos, int speed) {
        #if EBOARD_CLAMP > 0x0
            if(pos>1023 || speed > 1023) return;
            this->actPos=pos; this->storedPos=pos; this->storedSpe = speed;
            speed = speed*600/1023 - 300;
            pos   = pos  *600/1023 - 300;
        #else
            if(pos>300 || speed > 300) return;
            this->actPos=pos; this->storedPos=pos; this->storedSpe = speed;
        #endif
        if(speed != actSpe){ _servoHandler.setVelocity(speed); this->actSpe=speed;}
        _servoHandler.write(this->id,pos);
    }
    optVAL_t AX12Servo::getPosition(void) {
        return this->actPos; //when moving... false value;
    }
    bool AX12Servo::isMoving(void) {return false;} //we don't know^^
#endif